CN112505674A - Automatic door control method and system based on FMCW microwave inductor - Google Patents

Abstract

The invention belongs to the technical field of automatic doors, and in particular relates to an automatic door control method and system based on an FMCW microwave sensor. Bandwidth: Continuously obtain the reflected electromagnetic wave emitted by the transmitting antenna and reflected to the two receiving antennas after encountering the object under test in the detection area of the automatic door, as well as the FM continuous wave when the two receiving antennas receive the reflected electromagnetic wave and record it. It is a mixing frequency modulation wave; obtain the first intermediate frequency signal and the second intermediate frequency signal; obtain the spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; obtain the plane angle information of the measured object and the FMCW microwave sensor; control according to the plane angle information Automatic doors open or close. The present invention obtains the angle information of the measured object through spectrum information, thereby improving the control accuracy during the automatic door opening and closing control, and improving the safety performance during the automatic door opening and closing.

Description

Automatic door control method and system based on FMCW microwave sensor

technical field

The invention belongs to the technical field of automatic doors, and in particular relates to an automatic door control method and system based on an FMCW microwave sensor.

Background technique

Automatic doors, theoretically understood, should be an extension of the concept of doors, and the development and improvement of door functions according to people's needs. The development of the automatic door industry has become more and more mature. An automatic door refers to a control unit that can recognize the action of a person approaching the door or a certain entry authorization as an opening signal, open the door through the drive system, and automatically close the door after the person leaves. A system that implements control over the process of opening and closing.

However, when the automatic door is currently opened and closed on the market, most of the control methods adopted have the problem of low control accuracy, which is easy to cause problems that affect the use of users, and also reduces the use experience of users. Therefore, it is necessary to design an automatic door control method and system based on FMCW microwave sensor.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic door control method and system based on an FMCW microwave sensor, which aims to solve the problem of low control accuracy when the automatic door is opened and closed in the prior art, resulting in affecting the use of users and reducing the user's safety. Technical problems with user experience.

In order to achieve the above object, an embodiment of the present invention provides an automatic door control method based on an FMCW microwave sensor, where the FMCW microwave sensor includes an antenna group, and the antenna group includes a transmitting antenna and two receiving antennas; the method include:

Acquire the preset period and bandwidth of the frequency-modulated continuous wave transmitted by the transmitting antenna based on the FMCW principle; wherein, the frequency-modulated continuous wave is a modulation waveform with periodic changes generated by frequency modulation according to a fixed frequency;

Continuously acquire the reflected electromagnetic wave emitted by the transmitting antenna and reflected to the two receiving antennas after encountering the object under test in the detection area of the automatic door, and the FM continuous wave when the two receiving antennas receive the reflected electromagnetic wave and record it as mixed. FM wave;

The first intermediate frequency signal and the second intermediate frequency signal are obtained respectively after mixing the frequency-mixed FM wave and the reflected electromagnetic waves received by the two receiving antennas;

acquiring spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; wherein the spectrum information of the first intermediate frequency signal is the first spectrum information, and the spectrum information of the second intermediate frequency signal is the second spectrum information, Both the first spectrum information and the second spectrum information include N frequency points;

Acquire plane angle information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

The automatic door is controlled to open or close according to the plane angle information.

Optionally, the step of obtaining the distance information of the dynamic measured object in the detection area of the automatic door according to the first spectrum information and the second spectrum information specifically includes:

Acquire the frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first spectrum information and the second spectrum information respectively; wherein, each of the first spectrum information and the second spectrum information One frequency point corresponds to one frequency point amplitude information and one frequency point distance information;

The distance information of the dynamic measured object in the detection area of the automatic door is acquired according to the frequency point amplitude information and the frequency point distance information in the first spectrum information and the second spectrum information.

Optionally, the step of obtaining the distance information of the dynamic measured object in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first spectrum information and the second spectrum information, Specifically include:

respectively extracting the frequency point amplitude information of the frequency points with the same sequence number in the first spectrum information and the second spectrum information;

Judging whether the frequency bin amplitude information of the frequency bins with the same sequence number in the first spectrum information and the second spectrum information has changed;

If it is determined to be yes, the frequency point distance information corresponding to the changed frequency point amplitude information is extracted and recorded as the distance information of the dynamic measured object in the detection area of the automatic door.

Optionally, an automatic door control device based on an FMCW microwave sensor is also provided, the device comprising:

The bandwidth cycle acquisition module is used to acquire the preset period and bandwidth of the frequency-modulated continuous wave transmitted by the transmitting antenna based on the FMCW principle; wherein the frequency-modulated continuous wave is a modulation with periodic changes generated by frequency modulation according to a fixed frequency waveform;

The electromagnetic wave acquisition module is used to continuously acquire the reflected electromagnetic wave emitted by the transmitting antenna and reflected to the two receiving antennas after encountering the measured object in the detection area of the automatic door, and the frequency-modulated continuous wave when the two receiving antennas receive the reflected electromagnetic wave. And record it as a mixed frequency FM wave;

an intermediate frequency signal acquisition module, configured to obtain a first intermediate frequency signal and a second intermediate frequency signal after mixing the frequency-mixed FM wave with the reflected electromagnetic waves received by the two receiving antennas;

a spectrum information acquisition module, configured to acquire spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; wherein the spectrum information of the first intermediate frequency signal is the first spectrum information, and the spectrum of the second intermediate frequency signal The information is second spectrum information, and both the first spectrum information and the second spectrum information include N frequency points;

an angle information acquisition module, configured to acquire plane angle information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

a first distance information acquisition module, configured to acquire distance information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

The automatic door control module is used to control the opening or closing of the automatic door according to the plane angle information.

The present invention also provides an automatic door control system based on an FMCW microwave sensor, the system includes an FMCW microwave sensor and an automatic door, the automatic door is connected to the FMCW microwave sensor, and the FMCW microwave sensor includes an antenna group, the antenna group includes one transmit antenna and two receive antennas; wherein,

The FMCW microwave sensor is used to obtain the preset period and bandwidth of the frequency-modulated continuous wave transmitted by the transmitting antenna based on the FMCW principle; modulation waveform;

The FMCW microwave sensor is used to continuously acquire the reflected electromagnetic wave emitted by the transmitting antenna and reflected to the two receiving antennas after encountering the measured object in the detection area of the automatic door, and the reflected electromagnetic wave when the two receiving antennas receive the reflected electromagnetic wave. FM continuous wave and record it as mixed frequency FM wave;

The FMCW microwave sensor is used for mixing the frequency-modulated wave and the reflected electromagnetic waves received by the two receiving antennas to obtain a first intermediate frequency signal and a second intermediate frequency signal respectively;

The FMCW microwave sensor is used to acquire spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; wherein the spectrum information of the first intermediate frequency signal is the first spectrum information, and the second intermediate frequency signal The spectrum information is second spectrum information, and both the first spectrum information and the second spectrum information include N frequency points;

The FMCW microwave sensor is used to obtain the plane angle information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

The FMCW microwave sensor is used to obtain the distance information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

The FMCW microwave sensor is used to control the opening or closing of the automatic door according to the plane angle information.

The above one or more technical solutions in the FMCW microwave sensor-based automatic door control method and system provided by the embodiments of the present invention have at least one of the following technical effects:

The present invention first obtains the preset period and bandwidth of the frequency-modulated continuous wave transmitted by the transmitting antenna based on the FMCW principle, and then continuously acquires the transmitted electromagnetic wave transmitted by the transmitting antenna after encountering the measured object in the detection area of the automatic door. The reflected electromagnetic wave reflected to the two receiving antennas, and the frequency-modulated continuous wave when the two receiving antennas receive the reflected electromagnetic wave are recorded as the frequency-mixed frequency-modulated wave, and the first IF signal and the second IF signal are obtained after mixing, and then the first IF signal and the second IF signal are obtained. First spectrum information and the second spectrum information, and then obtain the plane angle information and distance information between the measured object and the FMCW microwave sensor, and then control the automatic door to open or close according to the plane angle information and distance information, so as to pass the spectrum information To obtain the angle information and distance information of the measured object, and then improve the control accuracy of automatic door opening and closing control, improve the safety performance of automatic door opening and closing, convenient for users, and improve user experience.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a flowchart of steps S100-S500 in an automatic door control method based on an FMCW microwave sensor provided by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an antenna group provided by an embodiment of the present invention;

3 is a projection diagram of the FMCW microwave sensor provided by an embodiment of the present invention after detecting the measured object;

4 is a schematic structural diagram of a reflected electromagnetic wave reflected to a receiving antenna in an automatic door control method based on an FMCW microwave sensor provided by an embodiment of the present invention;

5 is a flowchart of steps S510-S530 in the automatic door control method based on the FMCW microwave sensor provided by the embodiment of the present invention;

6 is a flowchart of steps S611-S612 in the method for controlling an automatic door based on an FMCW microwave sensor provided by an embodiment of the present invention;

7 is a flowchart of steps S621-S623 in the method for controlling an automatic door based on an FMCW microwave sensor provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of the combination of the structure of the antenna group and the projection of the FMCW microwave sensor after detecting the measured object according to another embodiment of the present invention;

9 is a flowchart of steps S710-S720 in the method for controlling an automatic door based on an FMCW microwave sensor provided by an embodiment of the present invention;

10 is a flowchart of steps S711-S712 in the method for controlling an automatic door based on an FMCW microwave sensor provided by an embodiment of the present invention;

11 is a flowchart of steps S7121-S7123 in the method for controlling an automatic door based on an FMCW microwave sensor provided by an embodiment of the present invention;

12 is a structural block diagram of an automatic door control device based on an FMCW microwave sensor provided by an embodiment of the present invention;

13 is a structural block diagram of an automatic door control system based on an FMCW microwave sensor provided by an embodiment of the present invention;

FIG. 14 is a structural block diagram of a computer device provided by an embodiment of the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical" "," "horizontal", "top", "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present invention and simplification It is described, rather than indicated or implied, that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the embodiments of the present invention, unless otherwise expressly specified and limited, terms such as “installation”, “connection”, “connection”, and “fixation” should be understood in a broad sense. For example, it may be a fixed connection or a It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of the two elements or the interaction relationship between the two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention according to specific situations.

In an embodiment of the present invention, as shown in FIG. 1 , an automatic door control method based on an FMCW microwave sensor is provided. The FMCW microwave sensor includes an antenna group, and the antenna group includes one transmitting antenna and two a receiving antenna; the method includes:

Step S100: obtaining a preset period and bandwidth of the frequency-modulated continuous wave transmitted by the transmitting antenna based on the FMCW principle; wherein, the frequency-modulated continuous wave is a modulation waveform with periodic changes generated by frequency modulation according to a fixed frequency;

Specifically, in this step, after pre-setting the period and bandwidth of the frequency-modulated continuous wave, the transmitting wave is frequency-modulated at a fixed frequency through the transmitting antenna, thereby transmitting electromagnetic waves to the detection area of the automatic door in a frequency sweep manner.

Specifically, if the transmitted wave is F1 at time t1, at the next time, the frequency of the transmitted wave is modulated according to the preset fixed frequency, so the transmitted wave at time t2 is F2. The frequencies of the transmitted wave F1 and the transmitted wave F2 are different.

Further, the frequency-modulated continuous wave may be a triangular wave, a sawtooth wave, or other continuous waves having a preset period and bandwidth. The FM continuous wave can be generated by first generating a fixed frequency by an oscillator, and then performing continuous frequency modulation by a frequency modulator through the above-mentioned fixed frequency, so as to generate the FM continuous wave.

Step S200: Continue to acquire the reflected electromagnetic waves transmitted by the transmitting electromagnetic wave transmitted by the transmitting antenna and reflected to the two receiving antennas after encountering the object under test in the detection area of the automatic door, and the FM continuous wave when the two receiving antennas receive the reflected electromagnetic Recorded as mixing frequency modulation wave;

In this step, at time t1, a transmitting electromagnetic wave with a frequency f1 is continuously transmitted to the detection area of the automatic door through the transmitting antenna, and the transmitting wave is a transmitting electromagnetic wave. After the transmitted electromagnetic wave is sent out, it will reflect after encountering the object under test in the detection area of the automatic door. At time t2, the reflected electromagnetic wave is received by the two receiving antennas. The frequency of the reflected electromagnetic wave is also f1. At this time, since the frequency of the transmitted wave is continuously modulated, the frequency of the transmitted wave has been modulated to f2 after the frequency sweep from t1 to t2.

Specifically, it is a cycle from when a transmitted electromagnetic wave is emitted to when the reflected electromagnetic wave is received by the receiving antenna, and when the two receiving antennas receive the two reflected electromagnetic waves respectively. When an automatic door works, there are multiple cycles of the above over time. In each cycle, one transmitted electromagnetic wave, two reflected electromagnetic waves and one frequency-mixed FM wave are acquired. If the transmitted electromagnetic wave, reflected electromagnetic wave and frequency-mixed FM wave in one cycle are a set of data, then in the continuous operation of the automatic door, multiple sets of the above data will be continuously acquired. That is, as described in this step: continuous acquisition of the transmitted electromagnetic wave, the reflected electromagnetic wave reflected to the receiving antenna after encountering the measured object in the detection area of the automatic door, and the frequency-mixed frequency modulation wave.

Step S300: After mixing the frequency-mixed FM wave and the reflected electromagnetic waves received by the two receiving antennas, a first intermediate frequency signal and a second intermediate frequency signal are obtained respectively;

In this step, the first intermediate frequency signal and the second intermediate frequency signal are obtained after mixing the frequency-mixed FM wave with the reflected electromagnetic waves received by the two receiving antennas.

Specifically, when the frequency of the mixed FM wave is f2 and the frequency of the reflected electromagnetic wave is f1, after mixing, the frequency Δf of the intermediate frequency signal is the difference between the frequency of the current mixed FM wave and the frequency of the reflected electromagnetic wave, that is, Δf =|f ₁ −f ₂ |.

In this embodiment, each of the frequency-mixed FM waves and the corresponding reflected electromagnetic waves are mixed by a mixer.

Step S400: Acquire spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; wherein the spectrum information of the first intermediate frequency signal is the first spectrum information, and the spectrum information of the second intermediate frequency signal is the second intermediate frequency signal. spectrum information, both the first spectrum information and the second spectrum information include N frequency points;

In this step, the spectrum information of each of the first intermediate frequency signal and the second intermediate frequency signal is acquired for subsequent information processing and analysis. Specifically, the spectrum information includes frequency information, amplitude information and phase information.

Step S500: Acquire plane angle information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

Specifically, in this embodiment, as shown in FIGS. 2-4 , when the two receiving antennas are arranged in parallel, the transmitting antennas are arranged above the sides of the two receiving antennas. With reference to Fig. 3, the FMCW microwave sensor can detect the angular information of the projection of the measured object on the XZ plane.

Further, the distance between the two receiving antennas is R, and the angle of the measured object is θ. As shown in FIG. 4 , when the measured object and FMCW are obtained according to the first spectrum information and the second spectrum information When the plane angle information and distance information of the microwave sensor are used, the angle information obtained is more accurate, which in turn provides accurate data support and foundation for the subsequent control of the automatic door, and improves the accuracy of automatic door control.

Step S600: Control the automatic door to open or close according to the plane angle information.

The present invention first obtains the preset period and bandwidth of the frequency-modulated continuous wave transmitted by the transmitting antenna based on the FMCW principle, and then continuously acquires the transmitted electromagnetic wave transmitted by the transmitting antenna after encountering the measured object in the detection area of the automatic door. The reflected electromagnetic wave reflected to the two receiving antennas, and the frequency-modulated continuous wave when the two receiving antennas receive the reflected electromagnetic wave are recorded as the frequency-mixed frequency-modulated wave, and the first IF signal and the second IF signal are obtained after mixing, and then the first IF signal and the second IF signal are obtained. A spectrum information and the second spectrum information, and then obtain the plane angle information and distance information between the measured object and the FMCW microwave sensor, and then control the automatic door to open or close according to the plane angle information, so as to obtain the measured object through the spectrum information. The angle information and distance information of the object are measured, thereby improving the control accuracy of the automatic door opening and closing control, improving the safety performance of the automatic door opening and closing, convenient for users, and thus improving the user experience.

In another embodiment of the present invention, as shown in FIG. 5 , the step of acquiring the plane angle information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information specifically includes: :

Step S510: Obtain the spectral phase difference between the first spectrum information and the second spectrum information;

In this step, in the first spectrum information, the frequency point is p _an , and its phase is α _an =arctan(y _an /x _an ); after the modification, we can obtain:

Similarly, in the second spectrum information, the frequency point p _bn has its phase α _bn =arctan(y _bn /x _bn ); after the modification, we can obtain:

Therefore, for the frequency point of serial number n, the calculation formula of the phase difference between the first spectrum information and the second spectrum information is: Δα _n =α _an -α _bn ;

故可知：

According to the trigonometric formula

So it can be seen that:

Therefore, it can be obtained: Δα _n =arctan((y _an x _bn -x _an y _bn )/(x _an x _bn +y _an y _bn ));

In this way, the spectral phase difference between the first spectral information and the second spectral information can be obtained.

Step S520: acquiring the antenna linear distance between the two receiving antennas;

Specifically, in this step, the distance between the two receiving antennas is set by those skilled in the art when making hardware settings, that is, the R in FIG. 4 , and the linear distance R between the two receiving antennas is already Know quantity.

Step S530: Acquire plane angle information between the measured object and the FMCW microwave sensor according to the spectral phase difference and the linear distance of the antenna.

In this step, in this embodiment, as shown in Figures 2 to 4, through the setting of one antenna group, that is, the combination of one transmitting antenna and two receiving antennas, the detection of the object to be measured on a plane and the FMCW microwave sensor is realized. The angle information of a plane projection is obtained.

Specifically, according to the spectral phase difference and the linear distance of the antenna, the plane angle information of the measured object and the FMCW microwave sensor is obtained by the following formula:

Among them, θ is the plane angle information between the measured object and the FMCW microwave sensor, F ₀ is the frequency of the center frequency emitted by the FMCW microwave sensor, c is the speed of light, Δα _n is the spectral phase difference, and R is the antenna line distance.

Specifically, as shown in Fig. 2, it can be seen that the calculation formula of the angle of the projection of the measured object on the XZ plane detected by the FMCW microwave sensor is: θ=arcsin(l/R), where l is the distance between the two receiving antennas to be measured difference in distance between objects.

Specifically, l is calculated as follows:

其中c为光速；在一个完整的周期为2π内，具有一个完整的波长为λ，而反射电磁波1与反射电磁波2之间的相位差为Δα_n，所以其距离差

Set the frequency of the center frequency emitted by the FMCW microwave sensor as F ₀ , then its wavelength:

where c is the speed of light; in a complete period of 2π, there is a complete wavelength of λ, and the phase difference between the reflected electromagnetic wave 1 and the reflected electromagnetic wave 2 is Δα _n , so the distance difference

代入θ＝arcsin(l/R)，可得：

Next, will

Substitute into θ=arcsin(l/R), we can get:

That is:

In this way, the plane angle information of the measured object and the FMCW microwave sensor can be obtained, thereby improving the accuracy of angle information acquisition and the accuracy of automatic door control.

In another embodiment of the present invention, a method for calculating the plane angle information between the measured object and the FMCW microwave sensor is also provided. As shown in FIG. 2 , according to the reflected electromagnetic wave 1 received by the receiving antenna 1 and the receiving antenna 2 The received reflected electromagnetic wave 2 can calculate the distances da and _db between the two receiving antennas and the measured object respectively, where da is the distance between the receiving antenna 1 and the measured object _{; db is} the receiving antenna 2 The distance between the measured object;

As shown in Figure 2, since the distance R between the receiving antenna 1 and the receiving antenna 2 is very small, the reflected electromagnetic wave 1 reflected by the measured object to the receiving antenna 1 and the reflected electromagnetic wave 2 reflected by the measured object to the receiving antenna 2 can be identified as is a parallel electromagnetic wave, so it can be obtained: l=d _a -d _b ; in this way, the value of l can be obtained.

Since the value of R is known, the values of l and R are substituted into the formula θ=arcsin(l/R), and the angle at which the FMCW microwave sensor detects the projection of the measured object on the XZ plane can be obtained.

In this way, the plane angle information of the measured object and the FMCW microwave sensor can be obtained conveniently and quickly, which provides a data basis for the subsequent automatic door control and improves the control accuracy of the automatic door.

In another embodiment of the present invention, as shown in FIG. 6 , the plane angle information is horizontal plane angle information, and the step of controlling the opening or closing of the automatic door according to the plane angle information specifically includes:

Step S611: Judging the actual movement direction of the measured object according to the horizontal plane angle information;

Specifically, as shown in FIG. 2 , after a person skilled in the art properly sets the placement mode of the antenna group, it is realized that the obtained angle information of the FMCW microwave sensor detecting the projection of the measured object on the XZ plane is the horizontal plane angle information , it can be judged whether the user is walking straight towards the automatic door, or walking towards the left or right of the automatic door relative to the center of the automatic door, that is, the actual movement direction of the measured object can be judged according to the horizontal plane angle information.

Step S612: Control the automatic door to open or close with a preset opening width according to the actual movement direction.

In this step, the opening width is preset by those skilled in the art, that is, the opening width is set by detecting different movement directions of the person.

Specifically, the opening width is the maximum opening width. By setting the maximum opening width to correspond to different angles, efficient utilization of resources for automatic door opening and closing control is achieved and control accuracy is improved.

In another embodiment of the present invention, the automatic door has a function of asymmetrical opening of a single door. When it is detected that the user is walking on the left according to the actual movement direction, only the left moving door will be opened; If it is detected that the user is walking on the right, only the right moving door will be opened; if it is detected that the user is walking in the middle according to the actual movement direction, the left and right moving doors will be opened simultaneously.

Furthermore, the precision of automatic door control is greatly improved, and the safety performance is also improved, which has extremely high practicability and market prospects.

In another embodiment of the present invention, as shown in FIG. 7 , the plane angle information is vertical plane angle information, and the step of controlling the opening or closing of the automatic door according to the plane angle information specifically includes:

Step S621: Detect the actual height information of the measured object according to the vertical plane angle information;

Specifically, after the placement of the antenna group is properly set by those skilled in the art, when the acquired angle information of the FMCW microwave sensor detecting the projection of the measured object on the XZ plane is the vertical plane angle information, the The vertical plane angle information detects the actual height information of the measured object.

Further, after calculating the distances d _a and d _b between the two receiving antennas and the measured object and the plane angle information of the measured object and the FMCW microwave sensor, the actual height of the measured object can be obtained according to the cosine law. information, that is, the actual height information of the measured object detected according to the vertical plane angle information.

In this way, by setting the plane angle information as the vertical plane angle information, during the running process of the automatic door, the interference signal brought by the moving door leaf of the automatic door during the moving process can be filtered out. Because the vertical angle of the moving door leaf of the automatic door is very large, and the user walks from a distance to trigger the automatic door, the angle is relatively small, and it is extremely easy to distinguish it from the action signal generated by the moving door leaf during the movement process. , thus, it can greatly reduce the malfunction caused by moving the door leaf, avoid the problem that the automatic door is frequently self-excited or even unable to close, further improves the accuracy of the automatic door opening and closing control, and avoids the problem of automatic door opening and closing control. The inaccuracy leads to the problem that the automatic door accidentally hurts the user, and the safety performance during the automatic door opening and closing control process is improved.

Step S622: judging whether the actual height information is greater than or equal to a preset height threshold;

In this step, the height threshold is preset by those skilled in the art. The height threshold is used to filter the signal interference of some low-height interference objects, such as pets, sweeping robots, etc., thus improving the control accuracy.

For the sake of safety, you can also set the height threshold to be the same as the height of the children, and then filter the children with shorter heights to avoid the situation of children triggering the automatic door without permission. In this way, children must be accompanied by adults when they need to enter and exit the automatic door. , which reduces the possibility of children being injured by the automatic door, and also protects children and prevents children from accidentally getting lost.

Step S623: if the determination is yes, control the automatic door to open; if the determination is no, control the automatic door to close or keep the closed state.

Specifically, in this step, when the judgment is yes, it is to judge whether the actual height information is greater than or equal to the preset height threshold, that is, adults or non-disturbing objects need to enter and exit the automatic door at this time, so the automatic door is controlled to open .

When it is judged to be no, it is judged that the actual height information is less than the preset height threshold, that is, there is an interference or a child walking in front of the automatic door, and the automatic door needs to be kept closed at this time.

Specifically, when the judgment is NO, if the automatic door is in the closed state, the automatic door is controlled to remain in the closed state; when the judgment is NO, and the automatic door is in the open state, the automatic door is controlled to be closed.

In another embodiment of the present invention, as shown in FIG. 8 , the plane angle information is vertical plane angle information and horizontal plane angle information.

The step of controlling the opening or closing of the automatic door according to the plane angle information specifically includes:

Integrating the vertical plane angle information and the horizontal plane angle information to form three-dimensional angle information;

According to the three-dimensional angle information, the movement trend of the measured object is judged, and then the automatic door is controlled to open or close.

In this way, through the combination of vertical plane angle information and horizontal plane angle information, the functions of horizontal plane angle detection and vertical plane angle detection are integrated to realize the positioning of the measured object in three-dimensional space and improve the accuracy of automatic door control.

Further, as shown in FIG. 8 , an antenna group of the FMCW microwave sensor described in this embodiment includes one transmitting antenna and three receiving antennas, and the relative positions of the receiving antenna and the transmitting antenna are set on the left side of FIG. 8 . As shown, the right side of Figure 8 is the projection information of the measured object detected by the FMCW microwave sensor on the projection plane.

According to the left diagram in FIG. 8 , according to the phase difference of the two reflected electromagnetic waves received by the receiving antenna 2 and the receiving antenna 3, the angle information of the projection of the measured object on the YZ plane can be detected.

By synthesizing the angle information of the projection of the measured object on the XZ plane by the receiving antenna 1 and the receiving antenna 2, the measured object can be located in the three-dimensional space.

In another embodiment of the present invention, as shown in FIG. 9 , the method further includes:

Step S710: Obtain, according to the first spectrum information and the second spectrum information, the distance information of the dynamic measured object in the detection area of the automatic door;

Specifically, in this step, by filtering out the static DUT according to the first spectrum information and the second spectrum information, and then acquiring the distance information of the dynamic DUT, filtering out the automatic door control process by the spectrum information is realized. The static factor of interference improves the accuracy of automatic door control.

Step S720: Control the opening or closing of the automatic door according to the distance information of the dynamic measured object and the plane angle information.

In this step, controlling the opening of the automatic door is controlling the automatic door to switch from a closed state to an open state. Closing is divided into two situations, one is the transition from the open state to the closed state. The other is continuous shutdown.

In another embodiment of the present invention, as shown in FIG. 10 , the step of obtaining the distance information of the dynamic measured object in the detection area of the automatic door according to the first spectrum information and the second spectrum information , including:

Step S711: Obtain the frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first spectrum information and the second spectrum information respectively; wherein, the first spectrum information and the second spectrum information Each frequency point corresponds to a frequency point amplitude information and a frequency point distance information;

Specifically, in this step, by separately acquiring the frequency point amplitude information and the frequency point distance information corresponding to each frequency point in the first spectrum information and the second spectrum information, the amplitude value of the same frequency point and the frequency point distance information are established. One-to-one correspondence between distances. That is, one amplitude information corresponding to one frequency point in the frequency spectrum corresponds to one distance information. Compared with the situation in the prior art that one amplitude corresponds to multiple distances, the present invention realizes that one amplitude corresponds to one distance based on the acquired spectrum information, so as to solve the technical problems existing in the prior art and improve the It improves the controllable accuracy in the automatic door detection process, greatly improves the user experience, and has extremely high practicability and commercial value.

In this embodiment, the data information processing in the above step S711 is implemented by a signal processor.

Step S712: Acquire distance information of the dynamic object under test in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first spectrum information and the second spectrum information.

Specifically, after the one-to-one correspondence between the amplitude and the distance is established in step S711, the static and dynamic measured objects in the detection area of the automatic door can be determined, and after the static measured objects are filtered out, the dynamic measure. Next, obtain the distance information of the dynamic measured object.

In another embodiment of the present invention, as shown in FIG. 11 , the detection area of the automatic door is acquired according to the frequency point amplitude information and frequency point distance information in the first spectrum information and the second spectrum information The steps of the distance information of the dynamic measured object within, specifically include:

Step S7121: Extract the frequency point amplitude information of the frequency points of the same sequence number in the first spectrum information and the second spectrum information respectively;

Specifically, in this step, the frequency point amplitude information of the frequency points with the same sequence number in the spectrum information corresponds to the distance information of the frequency change point. It can also be understood that the frequency point amplitude information of a serial number frequency point corresponds to a distance value.

Step S7122: Determine whether the frequency bin amplitude information of the frequency bins with the same sequence number in the first spectrum information and the second spectrum information has changed;

In this step, judging whether the frequency point amplitude information of the frequency points with the same sequence number in each of the first spectrum information and the second spectrum information has changed, that is, judging whether there is a dynamic passive signal at the same distance point at different time points measure.

Step S7123: If it is determined to be yes, extract the frequency point distance information corresponding to the changed frequency point amplitude information, and record it as the distance information of the dynamic measured object in the detection area of the automatic door.

In this step, when it is judged as yes, it is judged that the frequency bin amplitude information of the frequency bins with the same sequence number in each of the spectrum information has changed.

Specifically, if at time t3, the amplitude of the frequency bin with the serial number 1 is X. At time t4, the amplitude value of the frequency point with the serial number 1 is Y, and the amplitude information corresponding to the frequency point with the serial number 1 changes, which means that there is a dynamic measured value at the distance point corresponding to the amplitude information at this time. thing.

Next, the frequency point distance information corresponding to the changed frequency point amplitude information is extracted, that is, the distance information of the dynamic measured object is obtained.

In another embodiment of the present invention, the step S400: the step of acquiring the spectrum information of the first intermediate frequency signal and the second intermediate frequency signal specifically includes:

(1) The first intermediate frequency signal and the second intermediate frequency signal are respectively converted into digital intermediate frequency signals;

(2) converting the digital intermediate frequency signal into a frequency domain intermediate frequency signal through Fourier transform;

In this step, the digital intermediate frequency signal is a time-domain signal, and the time-domain signal is converted into a frequency-domain signal through Fourier transform.

Specifically, when performing Fourier transform, for the digital intermediate frequency signal, the number of sampling points in the sampling period is set to be N, and the sampling frequency is set to F.

(3) Acquire spectrum information of the first intermediate frequency signal and the second intermediate frequency signal according to the frequency domain intermediate frequency signal.

In another embodiment of the present invention, the frequency point amplitude information is calculated by the following formula:

以及

as well as

Among them, An is the amplitude information of the frequency point, n is the serial number of the corresponding frequency point in the spectrum, N is the number of sampling points in the sampling period in the Fourier transform, x _n is the real part information corresponding to the frequency point with the serial number n, and y _n is is the imaginary part information corresponding to the frequency point of serial number n.

Due to the symmetry of the spectrum, only the first N/2 frequency points need to be analyzed. Among them, An is the frequency point amplitude information, n is the serial number of the corresponding frequency point in the spectrum, and N is the sampling period in the Fourier transform. The number of sampling points of , x _n is the real part information corresponding to the frequency point of serial number n, and y _n is the imaginary part information corresponding to the frequency point of serial number n.

Specifically, when performing Fourier transform, the number of sampling points of the sampling period is set to N, and the sampling frequency is F. After Fourier calculation, the obtained spectrum information includes N frequency points, which are marked as 0, 1 , 2...n; where n represents the sequence number of the frequency point. Each frequency point in the frequency spectrum has real part information x _n and imaginary part information y _n correspondingly.

相位的计算公式为α_n＝arctan(y_n/x_n)；不同频点对应的幅值计算公式如下，具体地，对于序号为

的频点p_n，计算公式为：Further, the frequency point with serial number n is marked with p _n , specifically, the frequency calculation formula of p _n is

The calculation formula of the phase is α _n =arctan(y _n /x _n ); the amplitude calculation formula corresponding to different frequency points is as follows, specifically, for the serial number of

The frequency point p _n of , the calculation formula is:

For the frequency point pn with serial number n ( _n =0), the calculation formula is:

In another embodiment of the present invention, the frequency point distance information is calculated by the following formula:

Among them, _dn is the frequency point distance information, c is the speed of light, n is the serial number of the corresponding frequency point in the spectrum, F is the sampling frequency, k is the frequency modulation slope of the FM continuous wave, and N is the number of sampling points;

Among them, the FM slope k is calculated from the period T and bandwidth B of the FM continuous wave. If the FM continuous wave is a sawtooth wave, the expression of the slope k of the FM continuous wave is: k=B/T; if the FM continuous wave is a triangular wave , then the expression of the slope k of the FM continuous wave is: k=2B/T.

Specifically, taking the emission electromagnetic wave f1, the reflected electromagnetic wave f1 and the frequency-mixing frequency modulation wave f2 obtained in one cycle when the automatic door described in step S200 works as an example, the following formula is derived:

First, the preset period of the FM continuous wave is T and the bandwidth is B. If the FM continuous wave is a sawtooth wave, the expression of the slope k of the FM continuous wave is: k=B/T; if the FM continuous wave is a triangular wave, the expression of the slope k of the FM continuous wave is: k=2B/T .

Next, in the time period when the frequency-modulated continuous wave changes from f1 to f2, the time t has passed, and the frequency change amount is: Δf=|f ₁ -f ₂ |. That is, in the t time period, the frequency changes by Δf, so the expression can be obtained

Specifically, the propagation speed of the electromagnetic wave is the speed of light c, so in the time t, the distance traveled by the electromagnetic wave is s=ct. The distance of the measured object is half of the electromagnetic wave propagation distance, so the following derivation can be made:

Among them, c is the speed of light, Δf is the frequency of the intermediate frequency signal, and k is the frequency modulation slope of the frequency modulation continuous wave.

Specifically, the speed of light is known data, and T, B, and modulation waveform are pre-defined settings, so the FM continuous wave slope k is also known data. Therefore, based on the principle of FMCW, when the frequency Δf of the intermediate frequency signal is known, the actual distance of the measured object can be calculated by the above formula.

以及公式

可以经过傅里叶变换后，序号为n的频点p_n所表示的距离信息为：

如此计算，得到了频谱信息中各个频点所对应的距离信息，便于后续数据处理以及自动门的精确控制。Further, according to the formula

and the formula

After Fourier transform, the distance information represented by the frequency point p _n with serial number n is:

In this way, the distance information corresponding to each frequency point in the spectrum information is obtained, which is convenient for subsequent data processing and precise control of the automatic door.

In another embodiment of the present invention, the step of respectively converting the first intermediate frequency signal and the second intermediate frequency signal into a digital intermediate frequency signal specifically includes:

(1) filtering and amplifying the first intermediate frequency signal and the second intermediate frequency signal to obtain an amplified intermediate frequency signal after amplitude amplification;

In this step, the interference impurities of the signal are filtered out by filtering, thereby improving the data processing accuracy.

Next, performing amplitude amplification processing to obtain the amplified intermediate frequency signal for subsequent signal processing.

In this embodiment, filtering and amplifying processing of the intermediate frequency signal are implemented by a signal filter amplifier.

(2) Performing analog-to-digital conversion processing on the amplified intermediate frequency signal to obtain the digital intermediate frequency signal.

Specifically, after being converted into a digital signal, the time-domain signal can be subsequently converted into a frequency-domain signal through Fourier transform.

In this embodiment, the amplified intermediate frequency signal is processed by analog-to-digital conversion through an AD converter.

In another embodiment of the present invention, the continuous acquisition of the reflected electromagnetic waves emitted by the transmitting antenna and reflected to the two receiving antennas after encountering the object under test in the detection area of the automatic door, and the two receiving antennas receiving the reflections The steps of recording the frequency-modulated continuous wave as an electromagnetic wave and recording it as a frequency-mixing frequency-modulated wave include:

(1) Continuously obtain the transmitted electromagnetic wave transmitted by the transmitting antenna according to the FM continuous wave;

Specifically, when the frequency-modulated continuous wave is transmitted, the electromagnetic wave transmitted by the transmitting antenna can be obtained at any time when the automatic door is working.

(2) Obtain the reflected electromagnetic wave reflected to the two receiving antennas after the transmitted electromagnetic wave encounters the measured object in the detection area of the automatic door;

When the transmitted electromagnetic wave encounters the measured object in the detection area of the automatic door, it will be reflected, and then the reflected electromagnetic wave will be received by the receiving antenna.

(3) Obtain the frequency-modulated continuous wave when the receiving antenna receives the reflected electromagnetic wave, and record the frequency-modulated continuous wave at this time as a mixed frequency-modulated wave.

Since the transmitted electromagnetic waves are frequency-modulated continuous waves, when the receiving antenna receives the reflected electromagnetic waves, the frequency of the transmitted electromagnetic waves has changed, and the frequency-modulated continuous waves at this time are the mixed frequency-modulated waves.

In another embodiment of the present invention, as shown in FIG. 12, an automatic door control device based on an FMCW microwave sensor is also provided. The device includes a bandwidth period acquisition module, an electromagnetic wave acquisition module, an intermediate frequency signal acquisition module, a frequency spectrum An information acquisition module, an angle information acquisition module, a first distance information acquisition module and an automatic door control module.

Wherein, the bandwidth period acquisition module is used to acquire the preset period and bandwidth of the frequency-modulated continuous wave transmitted by the transmitting antenna based on the FMCW principle; wherein the frequency-modulated continuous wave is a frequency-modulated continuous wave with a periodic The modulating waveform that changes in nature;

The electromagnetic wave acquisition module is used to continuously acquire the reflected electromagnetic wave emitted by the transmitting antenna and reflected to the two receiving antennas after encountering the measured object in the detection area of the automatic door, and the frequency modulation when the two receiving antennas receive the reflected electromagnetic wave. Continuous wave and record it as mixing frequency modulation wave;

The intermediate frequency signal acquisition module is configured to mix the frequency-modulated wave with the reflected electromagnetic waves received by the two receiving antennas to obtain a first intermediate frequency signal and a second intermediate frequency signal respectively;

The spectrum information acquisition module is configured to acquire spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; wherein, the spectrum information of the first intermediate frequency signal is the first spectrum information, and the second intermediate frequency signal The spectrum information is second spectrum information, and both the first spectrum information and the second spectrum information include N frequency points;

The angle information acquisition module is configured to acquire the plane angle information of the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

The first distance information acquisition module is configured to acquire distance information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

The automatic door control module is used to control the automatic door to open or close according to the plane angle information.

In another embodiment of the present invention, the automatic door control device based on the FMCW microwave sensor further includes: a distance information acquisition module and an automatic door switch module.

Wherein, the distance information acquisition module is configured to acquire the distance information of the dynamic measured object in the detection area of the automatic door according to the first spectrum information and the second spectrum information;

The automatic door switch module is used to control the opening or closing of the automatic door according to the distance information of the dynamic measured object and the plane angle information.

In another embodiment of the present invention, the distance information acquisition module is further configured to acquire frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first spectrum information and the second spectrum information, respectively ; wherein, each frequency point in the first spectrum information and the second spectrum information corresponds to a frequency point amplitude information and a frequency point distance information;

And, according to the frequency point amplitude information and frequency point distance information in the first spectrum information and the second spectrum information, obtain the distance information of the dynamic measured object in the detection area of the automatic door

In another embodiment of the present invention, a computer device is further provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the above-mentioned automatic FMCW microwave sensor-based automatic Steps described in Door Control Method.

In another embodiment of the present invention, a computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, realizes the above-mentioned automatic door control method based on FMCW microwave sensor step.

For the specific definition of the automatic door control device based on the FMCW principle, reference may be made to the above definition of the automatic door control method based on the FMCW microwave sensor, which will not be repeated here. Each module in the above-mentioned automatic door control device based on the FMCW principle can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, and the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 14 . The computer equipment includes a processor, memory, a network interface, a display screen, and an input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an automatic door control method based on the FMCW microwave sensor is realized. The display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment , or an external keyboard, trackpad, or mouse.

Those skilled in the art can understand that the structure shown in FIG. 14 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In another embodiment of the present invention, as shown in FIG. 13 , an automatic door control system based on an FMCW microwave sensor is also provided. The system includes an FMCW microwave sensor and an automatic door, and the automatic door is connected to the automatic door. The FMCW microwave sensor is connected, and the FMCW microwave sensor includes an antenna group, and the antenna group includes a transmitting antenna and two receiving antennas; wherein,

The FMCW microwave sensor is used to obtain the preset period and bandwidth of the frequency-modulated continuous wave transmitted by the transmitting antenna based on the FMCW principle; modulation waveform;

The FMCW microwave sensor is used to continuously acquire the reflected electromagnetic wave emitted by the transmitting antenna and reflected to the two receiving antennas after encountering the measured object in the detection area of the automatic door, and the reflected electromagnetic wave when the two receiving antennas receive the reflected electromagnetic wave. FM continuous wave and record it as mixed frequency FM wave;

The FMCW microwave sensor is used for mixing the frequency-modulated wave and the reflected electromagnetic waves received by the two receiving antennas to obtain a first intermediate frequency signal and a second intermediate frequency signal respectively;

The FMCW microwave sensor is used to acquire spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; wherein the spectrum information of the first intermediate frequency signal is the first spectrum information, and the second intermediate frequency signal The spectrum information is second spectrum information, and both the first spectrum information and the second spectrum information include N frequency points;

The FMCW microwave sensor is used to obtain the plane angle information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information;

The FMCW microwave sensor is used to control the opening or closing of the automatic door according to the plane angle information;

The FMCW microwave sensor is configured to acquire distance information between the measured object and the FMCW microwave sensor according to the first spectrum information and the second spectrum information.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. An automatic door control method based on an FMCW microwave sensor, wherein the FMCW microwave sensor comprises an antenna group, and the antenna group comprises a transmitting antenna and two receiving antennas; characterized in that the method comprises:

acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;

continuously acquiring reflected electromagnetic waves reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antenna meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and recording the frequency-modulated continuous waves as frequency-mixed frequency-modulated waves;

mixing the frequency-mixing frequency-modulated wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;

acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;

acquiring plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;

and controlling the automatic door to be opened or closed according to the plane angle information.

2. The method as claimed in claim 1, wherein the step of obtaining the plane angle information of the object to be measured and the FMCW microwave sensor according to the first spectrum information and the second spectrum information includes:

acquiring the frequency spectrum phase difference of the first frequency spectrum information and the second frequency spectrum information according to the first frequency spectrum information and the second frequency spectrum information;

acquiring an antenna linear distance between two receiving antennas;

and acquiring the plane angle information of the object to be measured and the FMCW microwave sensor according to the frequency spectrum phase difference and the linear distance of the antenna.

3. The method of claim 2, wherein the plane angle information of the object to be measured and the FMCW microwave sensor is obtained according to the spectral phase difference and the antenna linear distance by the following formula:

wherein theta is the level of the object to be measured and the FMCW microwave sensorFace angle information, F₀Frequency of center frequency of transmission of FMCW microwave inductor, c speed of light, Delta alpha_nR is the linear distance of the antenna.

4. The method for controlling an automatic door based on an FMCW microwave sensor as claimed in any one of claims 1-3, wherein the plane angle information is horizontal plane angle information, and the step of controlling the automatic door to open or close according to the plane angle information specifically comprises:

judging the actual movement direction of the measured object according to the horizontal plane angle information;

and controlling the automatic door to be opened or closed by a preset opening width according to the actual movement direction.

5. The method for controlling an automatic door based on an FMCW microwave sensor as claimed in any one of claims 1-3, wherein the plane angle information is vertical plane angle information, and the step of controlling the automatic door to open or close according to the plane angle information specifically comprises:

detecting actual height information of the measured object according to the vertical plane angle information;

judging whether the actual height information is greater than or equal to a preset height threshold value or not;

if the judgment result is yes, the automatic door is controlled to be opened; if not, the automatic door is controlled to be closed or kept in a closed state.

6. The method of FMCW microwave sensor-based automatic door control of claim 1, further comprising:

acquiring distance information of a dynamic measured object in a detection area of the automatic door according to the first frequency spectrum information and the second frequency spectrum information;

and controlling the automatic door to be opened or closed according to the distance information of the dynamic measured object and the plane angle information.

7. The method for controlling an automatic door based on an FMCW microwave sensor as claimed in claim 6, wherein the step of obtaining the distance information of the dynamic object under test in the detection area of the automatic door according to the first spectrum information and the second spectrum information includes:

respectively acquiring frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first frequency spectrum information and the second frequency spectrum information; each frequency point in the first frequency spectrum information and the second frequency spectrum information corresponds to one frequency point amplitude information and one frequency point distance information;

and acquiring the distance information of the dynamic measured object in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first frequency spectrum information and the second frequency spectrum information.

8. The FMCW microwave sensor-based automatic door control method according to claim 7, wherein the step of obtaining distance information of the dynamic object to be measured in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first frequency spectrum information and the second frequency spectrum information specifically includes:

frequency point amplitude information of frequency points with the same sequence number in the first frequency spectrum information and the second frequency spectrum information is respectively extracted;

judging whether frequency point amplitude information of frequency points with the same sequence number in the first frequency spectrum information and the second frequency spectrum information changes or not;

if the judgment result is yes, extracting the frequency point distance information corresponding to the changed frequency point amplitude information, and recording the frequency point distance information as the distance information of the dynamic measured object in the detection area of the automatic door.

9. An automatic door control apparatus based on an FMCW microwave sensor, the apparatus comprising:

the bandwidth cycle acquisition module is used for acquiring the preset cycle and bandwidth of the frequency modulation continuous wave transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;

the electromagnetic wave acquisition module is used for continuously acquiring reflected electromagnetic waves which are reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antennas meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and are recorded as frequency-mixed frequency-modulated waves;

the intermediate frequency signal acquisition module is used for mixing the frequency mixing frequency modulation wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;

the frequency spectrum information acquisition module is used for acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;

the angle information acquisition module is used for acquiring the plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;

the first distance information acquisition module is used for acquiring the distance information between the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;

and the automatic door control module is used for controlling the automatic door to be opened or closed according to the plane angle information.

10. An automatic door control system based on an FMCW microwave inductor is characterized by comprising the FMCW microwave inductor and an automatic door, wherein the automatic door is connected with the FMCW microwave inductor, the FMCW microwave inductor comprises an antenna group, and the antenna group comprises a transmitting antenna and two receiving antennas; wherein,

the FMCW microwave inductor is used for acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;

the FMCW microwave sensor is used for continuously acquiring reflected electromagnetic waves which are reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antennas meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and are recorded as mixed frequency modulated waves;

the FMCW microwave inductor is used for mixing the frequency-mixing frequency modulation wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;

the FMCW microwave inductor is used for acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;

the FMCW microwave sensor is used for acquiring plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;

and the FMCW microwave sensor is used for controlling the automatic door to be opened or closed according to the plane angle information.

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